CN102822636A - Encoder, drive device, absolute position calculation method, and encoder manufacturing method - Google Patents

Encoder, drive device, absolute position calculation method, and encoder manufacturing method Download PDF

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Publication number
CN102822636A
CN102822636A CN2011800165600A CN201180016560A CN102822636A CN 102822636 A CN102822636 A CN 102822636A CN 2011800165600 A CN2011800165600 A CN 2011800165600A CN 201180016560 A CN201180016560 A CN 201180016560A CN 102822636 A CN102822636 A CN 102822636A
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Prior art keywords
bit data
data
interval
absolute position
resolution
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CN102822636B (en
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室北几磨
吉田康
村冈次郎
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/2449—Error correction using hard-stored calibration data
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49002—Electrical device making
    • Y10T29/49004—Electrical device making including measuring or testing of device or component part

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  • General Physics & Mathematics (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)

Abstract

Provided are an encoder, a drive device, an absolute position calculation method, and an encoder manufacturing method, wherein when a relatively large error occurs, the error can be corrected. The encoder comprises: a positional data acquisition unit (120) which acquires upper data representing the position of a mobile object in an upper section in which the mobile object is movable, and lower data representing a position in a lower section repeated multiple times within the upper section by higher resolution than the upper data; a storage unit (130) in which a correction value by which the amount of displacement caused by the upper data with respect to the lower data can be corrected is associated with an absolute position with the same level of resolution as the upper data and stored; a correction unit (140) which acquires the correction value from the storage unit (130) and corrects the upper data; and a section specification unit (150) which, on the basis of the upper data corrected by the correction unit (140) and the lower data when the upper data is acquired, specifies, with respect to the upper section, the lower section in which the lower data is acquired.

Description

Scrambler, drive unit, absolute position computing method and scrambler manufacturing approach
Technical field
The present invention relates to scrambler, drive unit, absolute position computing method and scrambler manufacturing approach.
Background technology
When confirming the position of moving body, to use scrambler.On the other hand, in recent years, along with the raising of the operation precision of servomotor etc., the raising of precision is confirmed in the position of having realized scrambler.Confirm an example of precision raising method as this position, can enumerate based on the position of so-called " accumulation mode (the long-pending げ mode that goes up) " and confirm.
According to the accumulation mode; Utilize the different a plurality of position datas of resolution to represent the position of moving body; From the low position data of resolution (go up bit data) to the high position data of resolution (following bit data); Confirm the position of moving body successively, generate thus and represent the position data of moving body absolute position accurately.According to this accumulation mode, for example can comprise the data of moving body absolute position (absolute position) through making the minimum position data of resolution, confirm the absolute position that resolution is high.
The prior art document
Patent documentation
Patent documentation 1: No. 3551252 communique of Jap.P.
Patent documentation 2: No. 3336396 communique of Jap.P.
Summary of the invention
The problem that invention will solve
On the other hand, according to such accumulation mode, if between 2 different above position datas of resolution, produce error (being also referred to as " phase error "), then accumulate this more than 2 position data and position data inaccurate sometimes.
Therefore, in order when producing such error, also to generate position data accurately, for example developed the scrambler of patent documentation 1 or patent documentation 2.According to these scramblers; Though method is different; But in the data generating procedure of position, use bit data and last bit data down confirm to have obtained bit data down on interval in the bit data, and generate the position data of representing the absolute position according to interval of confirming and following bit data.Therefore, compare, compensate above-mentioned phase error when confirming to generate correct position data in the interval with the situation of simple accumulation.
But,, in the data generating procedure of position, proofread and correct above-mentioned phase error based on the position data more than 2 that resolution is different, but there is the limit in correctable side-play amount according to patent documentation 1 or patent documentation 2 described scramblers.The amount of this limit also depends on the resolution of bearing calibration or each position data etc., even for example under the maximum situation of limiting quantity, when the position data of low resolution side surpass the high resolving power side position data phase place 1/2 the time, be difficult to the phase calibration error.
On the other hand, as the main cause that produces phase error, for example can enumerate the error of in generating position data, using that detection signal comprised.And; According to the characteristic of the error that this detection signal comprised, roughly divide for moving or error that error that does not have repeatability that real-time driving situation such as vibration causes and foozle etc. are caused by testing agency self by moving body with repeatability with phase error.Therefore; For example, according to above-mentioned patent documentation 1 or patent documentation 2 described scramblers, actual conditions are that sum of errors with repeatability and the real-time driving situation that scrambler self possessed originally do not have the error of repeatability overlapping accordingly; As a result, the limiting quantity that surpasses above-mentioned correction sometimes.
Therefore, the present invention accomplishes in view of such problem, even the purpose of this invention is to provide scrambler, drive unit, absolute position computing method and the scrambler manufacturing approach that under the situation that produces bigger error, also can proofread and correct this error.
The means of dealing with problems
In order to solve above-mentioned problem; According to viewpoint of the present invention; A kind of scrambler is provided, and it possesses: position data obtains portion, and it obtains bit data and following bit data; The position of this upper data representation moving body in the movably upper interval of said moving body, this time bit data is to be illustrated in the position of the said moving body in the repeated the next interval in the said upper interval than the said upward high resolution of bit data; Storage part; It carries out record explicitly with the said absolute position of bit data low resolution down of the corrected value and the ratio of said moving body; This corrected value is to generate in advance according to the side-play amount that on said, produce and measure in advance with respect to said bit data down in the bit data, can proofread and correct this side-play amount; Correction portion, it absolute position of said said low resolution when going up bit data according to the said position data portion of obtaining, and obtains the corrected value that is associated with this absolute position from said storage part, proofreaies and correct the said bit data that goes up according to this corrected value; And interval confirm portion, said the descend bit data of its last bit data of being proofreaied and correct according to said correction portion when obtaining bit data on this confirmed to obtain the said the next interval of this time bit data for said upper interval.
In addition; Can also possess the absolute position calculating part; This absolute position calculating part confirms the determined the next interval of portion and obtains said following bit data when going up bit data according to said interval at least, calculate said moving body with the resolution of said bit data equal extent down under the absolute position.
In addition; Also can be; The said position data portion of obtaining at the position data more than 3; This position data more than 3 is cut apart the position that the number different resolution that resolution is high is more more at most represented said moving body with this in different a plurality of intervals of cutting apart after number is cut apart the mobile range of said moving body, in said storage part to adjacent according to the height of resolution and be in said on 2 position datas a plurality of right of bit data and the said relation of bit data down; Write down said corrected value respectively; Said correction portion proofreaies and correct according to said corrected value respectively and the said suitable position data of bit data that goes up to said a plurality of right, and it is said a plurality of right that said interval confirms that portion is directed against; The said time bit data of the last bit data of being proofreaied and correct according to said correction portion respectively when obtaining bit data this on; Confirmed to obtain the said the next interval of this time bit data for said upper interval, said absolute position calculating part confirms that according to said interval portion is directed against said a plurality of whole intervals and the highest position data of resolution to confirming respectively, calculate said moving body with the resolution of the highest position data equal extent of said resolution under the absolute position.
In addition; Also can be; In said storage part to said a plurality of to bit data on separately; With said corrected value and with the absolute position of the resolution of this right last bit data equal extent record explicitly, said correction portion obtains the said corrected value of the last bit data of this centering of correction to said a plurality of to the absolute position with the resolution of the last bit data equal extent of this centering of basis respectively.
In addition; Also can be; Said absolute position calculating part according to said interval confirm portion be directed against said 2 position datas centering at least 1 definite the next interval and confirmed that by said interval portion has confirmed the said the highest following bit data of position data intermediate-resolution to comprising in the next interval; The middle absolute position of the resolution of calculating and this time bit data equal extent; Said correction portion is under the situation as the said absolute position to the said moving body of upper data representation that comprises of calibration object; According to the absolute position of this upper data representation, obtain the said corrected value of proofreading and correct bit data on this, under situation as the absolute position of bit data on comprising not being represented said moving body of said calibration object; According to have with as said calibration object to the resolution of the last bit data equal extent that comprises and the middle absolute position of having calculated by said absolute position calculating part, obtain the said corrected value of correction bit data on this.
In addition, also can be, repeat repeatedly in the mobile range of said moving body in said upper interval, is set to same value and records in the said storage part to the corrected value of the last bit data in the adjacent a plurality of said upper interval.
In addition, in order to solve above-mentioned problem, according to other viewpoint of the present invention, drive unit is provided, it possesses: motor, and it moves moving body in mobile range; Position data obtains portion; It obtains bit data and following bit data; Position in the upper interval that the said moving body of this upper data representation comprises in mobile range, this time bit data is to represent said moving body position in the repeated the next interval in said upper interval than the said high resolution of bit data that goes up; Storage part; It carries out record explicitly with the said absolute position of bit data low resolution down of the corrected value and the ratio of said moving body; This corrected value is to generate in advance according to the side-play amount that on said, produce and measure in advance with respect to said bit data down in the bit data, can proofread and correct this side-play amount; Correction portion, it absolute position of said said low resolution when going up bit data according to the said position data portion of obtaining, and obtains the corrected value that is associated with this absolute position from said storage part, proofreaies and correct the said bit data that goes up according to this corrected value; Interval confirm portion, said the descend bit data of its last bit data of being proofreaied and correct according to said correction portion when obtaining bit data on this confirmed to obtain the said the next interval of this time bit data for said upper interval; The absolute position calculating part, it confirms the determined the next interval of portion and obtains said following bit data when going up bit data according to said interval at least, calculate said moving body with the resolution of said bit data equal extent down under the absolute position; And control device, it controls said motor according to the absolute position that said absolute position calculating part calculates.
In addition; In order to solve above-mentioned problem,, the absolute position computing method are provided according to other viewpoint of the present invention; May further comprise the steps: position data obtains step; Obtain bit data and following bit data, the position of this upper data representation moving body in the movably upper interval of said moving body, this time bit data is to represent said moving body position in the repeated the next interval in said upper interval than the said high resolution of bit data that goes up; Aligning step; According to obtain in said position data obtain in the step said on the said absolute position of bit data low resolution down of ratio during bit data; Obtain the corrected value that is associated with this absolute position from storage part; Proofread and correct the said bit data that goes up according to this corrected value, wherein, this storage part carries out record explicitly with the said absolute position of bit data low resolution down of the corrected value and the ratio of said moving body; This corrected value is to generate in advance according to the side-play amount that on said, produce and measure in advance with respect to said bit data down in the bit data, can proofread and correct this side-play amount; And interval confirm step, according to the said down bit data of bit data in said aligning step, proofreading and correct when obtaining bit data on this, confirmed to obtain the said the next interval of this time bit data for said upper interval.
In addition; In order to solve above-mentioned problem,, the scrambler manufacturing approach is provided according to other viewpoint of the present invention; May further comprise the steps: position data obtains step; Obtain bit data and following bit data, the position of this upper data representation moving body in the movably upper interval of said moving body, this time bit data is to represent said moving body position in the repeated the next interval in said upper interval than the said high resolution of bit data that goes up; Interval definite step obtains last bit data and the following bit data that portion obtains according to said position data, has confirmed to obtain the said the next interval of this time bit data for said upper interval; The absolute position calculation procedure; At least according to confirming in the step determined the next interval in said interval and obtain the following bit data that obtains in the step in said position data, calculate said moving body with the resolution of said bit data equal extent down under the absolute position; Benchmark absolute position calculation procedure is according to the real absolute value of obtaining the said moving body of obtaining in the step of the next data computation in said position data; The side-play amount determination step; According to absolute position of in the calculation procedure of said absolute position, calculating and the real absolute position of in the calculation procedure of said benchmark absolute position, calculating, be determined at the said side-play amount that produces with respect to said bit data down in the bit data that goes up; Corrected value generates step, generates the corrected value of this side-play amount of recoverable according to the side-play amount of in said side-play amount determination step, measuring; And recording step, will generate the corrected value that generates in the step at said corrected value and record explicitly in the storage part in the scrambler with the said absolute position of bit data low resolution down of the ratio of said moving body.
The invention effect
That kind as described above is according to the present invention, even under the situation that produces the comparison mistake, also can proofread and correct this error.
Description of drawings
Fig. 1 is the key diagram that is used to explain the drive unit of one embodiment of the present invention.
Fig. 2 is the key diagram that is used to explain the scrambler of this embodiment.
Fig. 3 is the key diagram of action that is used to explain the scrambler of this embodiment.
Fig. 4 is the key diagram of the 1st error correction example that is used to explain the scrambler of this embodiment.
Fig. 5 is the key diagram of the 1st error correction example that is used to explain the scrambler of this embodiment.
Fig. 6 is the key diagram of the 1st error correction example that is used to explain the scrambler of this embodiment.
Fig. 7 is the key diagram of the 1st error correction example that is used to explain the scrambler of this embodiment.
Fig. 8 is the key diagram of the 1st error correction example that is used to explain the scrambler of this embodiment.
Fig. 9 is the key diagram of the 2nd error correction example that is used to explain the scrambler of this embodiment.
Figure 10 is the key diagram of structure one example of manufacturing installation that is used to explain the scrambler of this embodiment.
Figure 11 is the key diagram of action one example of manufacturing installation that is used to explain the scrambler of this embodiment.
Embodiment
Below, specify embodiment of the present invention with reference to accompanying drawing.In addition, in this instructions and accompanying drawing, represent to have in fact the inscape of identical function with same label in principle, suitably omit repeat specification about these inscapes.
Below, for the ease of explanation, describe according to following order, make one embodiment of the present invention easy to understand.
< 1. scrambler of this embodiment etc. >
(structure of 1-1. drive unit)
(error of 1-2. multiplication accumulation mode and scrambler)
(1-2-1. multiplication accumulation mode)
(error of 1-2-2. scrambler)
(structure of 1-3. scrambler)
(action of 1-4. scrambler)
(the error correction example of 1-5. scrambler)
(1-5-1. the 1st error correction example)
(1-5-2. the 2nd error correction example)
(example of the effect of this embodiment of 1-6.)
< the 2. manufacturing of the scrambler of this embodiment >
(structure of 2-1. scrambler manufacturing installation)
(action of 2-2. scrambler manufacturing installation)
< 1. scrambler of this embodiment etc. >
(structure of 1-1. drive unit)
The structure of the drive unit of one embodiment of the present invention at first, is described with reference to Fig. 1.Fig. 1 is the key diagram that is used to explain the drive unit of one embodiment of the present invention.
As shown in Figure 1, the drive unit DV of this embodiment has power generation arrangement PG and control device CT.And power generation arrangement PG has motor M and scrambler 100.
Motor M is that the power that does not comprise scrambler 100 produces an example in source, and utilizing the power that is produced to drive the object that is driven by drive unit DV is driven object (not shown).At this moment, according to absolute position data, by control device CT control motor M from scrambler 100 outputs.
The operating principle of motor M, kind etc. are not special to be limited.
That is, motor M is not limited to be to use the situation of electric power as the electrodynamic type motor part of power source, for example can also be the motor that fluid pressure type motor part, pneumatic type motor part, steam formula motor part etc. are used other power source.
In addition, motor M for example can be the rotary-type motor that makes the driven object rotation, also can be the linear motor that driven object is moved on lines such as straight line or curve.
But,, below illustrate motor M and be the situation of rotary-type electrodynamic type motor for the ease of explanation.That is, the motor M of this embodiment has turning axle SH1 at least one side, is rotated the output revolving force around rotation through making this turning axle SH1.At this moment, the motor M of this embodiment obtains electric signal (for example, motor M applies voltage or electric current etc.) as control signal Icont from control device CT, makes turning axle SH1 rotation according to this electric signal.
In addition, the difference of different motor M such as operating principle or kind when using this embodiment etc. that suitably remark additionally.
In this embodiment, scrambler 100 links with the opposition side of the turning axle SH1 of the outgoing side that is configured in motor M and another turning axle SH2 that rotates along with this turning axle SH1.And scrambler 100 is through detecting the absolute position (anglec of rotation etc.) of turning axle SH2, detects absolute position and/or the absolute position of the driven object (not shown) that is connected with turning axle SH1 of the turning axle SH1 of output revolving force.And scrambler 100 will represent that the absolute position data of detected absolute position exports control device CT to.
This scrambler 100 is for can detection resolution height and the high absolute position of precision; " the accumulation mode " that is accompanied by what is called " multiplication is handled " capable of using; The absolute position that precision is very high is as absolute position data output (below, be called " multiplication accumulation mode ").The back is described in detail this " multiplication accumulation mode ".
At this moment, scrambler 100 can utilize multiplication accumulation mode to detect the absolute position at any time, for example can be only when power connection or drive unit DV when the beginning compulsory exercise such as producing when wrong, utilize multiplication accumulation mode to detect the absolute position.In the case; For example; When motor M has carried out compulsory exercise when the absolute position request signal (not shown) that receives from outside (for example control device CT) or during scrambler 100 energized etc., utilize above-mentioned multiplication accumulation mode to detect the absolute position.On the other hand, scrambler 100 can wait and detects the absolute position after temporarily detecting the absolute position through multiplication accumulation mode through the highest detection signal of resolution being carried out counts.In this embodiment,, specify the situation of utilizing multiplication accumulation mode to detect the absolute position for the ease of explanation.
In addition, except the absolute position of turning axle SH2 etc., scrambler 100 also can detect the rotational speed (also being called angular velocity) of turning axle SH2 etc. and at least one side of rotary acceleration (also being called angular acceleration).In the case; Can detect angular velocity and angular acceleration by scrambler 100 through utilizing the time that the absolute position is carried out 1 time or 2 subdifferentials, or measuring the processing of variable quantity etc. of time per unit of variable quantity or this variable quantity of the time per unit of absolute position such as (for example add up).
About scrambler 100 detected absolute positions, set driven object corresponding to drive unit DV according to which absolute position in turning axle SH2, turning axle SH1 and the driven object (not shown), can be absolute position arbitrarily.Therefore, according to detecting which absolute position, the object that is detected the absolute position becomes an example of moving body.In this embodiment,, explain that scrambler 100 detects the situation of the absolute position of turning axle SH2 for the ease of explanation.
The allocation position of scrambler 100 is not limited to this embodiment especially.For example; Can scrambler 100 be configured to, the source of the absolute position of using according to drive unit DV or the configuration of device itself etc. directly link with the turning axle SH1 of outputting power; In addition, also can link via rotary bodies such as other mechanism such as speed reduction unit or sense of rotation transducer and turning axles.
Control device CT obtains the absolute position data of scrambler 100 outputs, and according to the absolute position that this absolute position data is represented, the power generation state of control power generation arrangement PG is the rotation of motor M.Therefore, in using electrodynamic type motor part this embodiment as motor M, control device CT is according to absolute position data, and control imposes on the curtage of motor M etc. as control signal Icont, control the rotation of motor M thus.Use at motor M under the situation of other power sources such as fluid pressure type, pneumatic type, steam formula, control device CT can control the rotation of motor M through the supply of these power sources of control.
Obviously, this control device CT also can obtain upper control signal from host control device (not shown), and control motor M is so that the position that this upper control signal of the turning axle of motor M output is represented etc.
(error of 1-2. multiplication accumulation mode and scrambler)
Like this, drive unit DV makes motor M rotation according to the absolute position that scrambler 100 detects, and driven object is driven.Therefore, when error is contained in the absolute position that scrambler 100 detects, bring very big influence might for the driving precision etc. of the driven object of drive unit DV self.Relative therewith, the scrambler 100 of this embodiment not only adopts above-mentioned multiplication accumulation mode, error that can also the position detecting mechanism of correcting coder 100 produces in the permissible range of non-constant width, the absolute position accurately that accuracy of detection is very high.Therefore, below, specify the scrambler 100 of this embodiment.
But, before specifying scrambler 100,, explain that the multiplication of the scrambler 100 of this embodiment is accumulated mode and issuable error in scrambler in order to understand the remarkable effect and the effect of this scrambler 100 easily.
(1-2-1. multiplication accumulation mode)
According to the positional information that detects, scrambler for example can roughly be divided into absolute type encoder and incremental encoder.
Absolute type encoder detects 1 a circle (example in the mobile range of moving body or upper interval of representing turning axle SH2 uniquely.) in the detection signal of absolute position, according to this detection signal, calculate the absolute position of turning axle SH2.Therefore, absolute type encoder can just confirmed the absolute position after the energized.Promptly; Absolute type encoder with this absolute position as initial value; Afterwards; High-resolution absolute position is calculated in the processing that detection signal (increment signal) is counted etc. capable of using, and this detection signal is illustrated in a repeated interval (example in upper interval and the next interval in 1 circle of turning axle SH2 uniquely.Be also referred to as spacing) interior position.
Relative therewith, in incremental encoder, the position data during power connection is 0, can't confirm the absolute position.Promptly; The position data of incremental encoder with power connection the time is made as after 0; Detect the position Detection signal in the repeated interval in 1 circle that is illustrated in turning axle SH2 uniquely; Detection signal etc. to from the origin position generation of regulation is counted, and through such processing, calculates relative position.Therefore, incremental encoder uses 1 initial point signal etc. in 1 circle of setting in addition, the relative correction amount that consideration obtains through this initial point signal, thus calculate the absolute position virtually.
The detected detection signal of absolute type encoder is called " absolute signal " or " 1X signal ", and the detected detection signal of incremental encoder is called " increment signal ", and perhaps cutting apart several n according to it is called " n multiplication amount signal " or " nX signal ".Absolute signal or increment signal have periodic signal respectively, and this periodic signal has 1 cycle at per 1 circle (mobile range) or per 1 interval (interval of cutting apart).In 1 circle, be that the absolute signal in 1 cycle also can be described as such periodic signal: cut apart in the interval (promptly 1 enclosing) that get and have 1 cycle mobile range (1 circle) being carried out 1.
According to such absolute signal or increment signal, detection signal is carried out analog-to-digital conversion, then, be transformed to the phase angle in the cycle, calculate 1 interval interior position thus and (comprise the position (absolute position) in 1 circle.Also be called interval interior position).Representing on the meaning of the position in 1 cycle with 0 °～360 ° angle, 1 interval interior position (angle) also is being called " electric angle ".And; Absolute type encoder and incremental encoder are after the detection signal to separately cycle for example carries out analog-to-digital conversion; Before being transformed to position data; (number that will double is made as m) handled in temporary transient execution multiplication here, makes the resolution of each detection signal be increased to m doubly thus, thereby can improve 1 interval interior position Detection precision.
The example of the accumulation mode that doubles more specifically is described.The scrambler 100 of this embodiment is for example obtained 1 absolute signal and the increment signal more than 1 or 2 in fact simultaneously, measures the absolute position under the resolution of increment signal according to this absolute signal and increment signal.The contents processing of this scrambler 100 conceptually is described, is described below.Promptly; Scrambler 100 is handled and is waited and after improving resolution each detection signal being implemented multiplication; The absolute signal minimum according to resolution calculates the absolute position, on the other hand, calculates the interval interior position corresponding with the resolution of this increment signal according to each increment signal.Then, scrambler 100 is to the minimum absolute position of resolution, comes the interval interior position of overlapping (accumulation) incremental signal notation according to resolution order from low to high, confirms the absolute position under the resolution of the increment signal that resolution is the highest.On the meaning of the position data that makes detection signal multiplication back overlapping (accumulation) resolution different detection signal, will realize like this that here high-resolution absolute position detection mode is called " multiplication accumulation mode ".In addition, can also not implement multiplication and handle and only accumulate, but in this embodiment explanation multiplication accumulation mode.
Here, below the mode of the position of cutting apart the different interval of number (1 circle or 1 interval) in accumulation resolution and the mobile range is carried out concept nature and bright specifically.For example, the 1st position data, the expression of the absolute position of representing to obtain according to absolute signal are enumerated according to the 3rd position data of the position that only high than the 2nd position data increment signal of resolution obtains according to the 2nd position data, the expression of the position that only high than the 1st position data increment signal of resolution obtains as an example.Like this, at first, in this accumulation mode, according to the 1st position data and the 2nd position data, confirm by the 2nd position data represent interval in the 2nd interval of position be which the 2nd interval in a plurality of the 2nd intervals that comprise in the absolute position represented of the 1st position data.Then, according to the 2nd position data and the 3rd position data, confirm by the 3rd position data represent interval in the 3rd interval of position be which the 3rd interval in a plurality of the 3rd intervals that comprise in the absolute position represented of the 2nd position data.As a result, after overlapping fixed 2 intervals, position in the highest the 3rd interval in interval of further overlapping resolution can be calculated the absolute position under the resolution of the 3rd position data thus.In addition; Confirm the method for processing about the interval; Can consider the whole bag of tricks; But be 2 position datas (going up an example of bit data and following bit data) at least, confirm to have obtained the interval (example in the next interval) of the next position data for the interval (example in upper interval) of upper position data according to the relation that in the relativeness of resolution, is in upper (resolution is low) and the next (resolution is high).
(error of 1-2-2. scrambler)
On the other hand, for example, in the detection signal of each resolution, possibly produce the detection error.Produce to detect under the situation of error, in the processing procedure of above-mentioned multiplication accumulation mode,, confirming the interval of mistake sometimes when carrying out interval when confirming.Promptly; Under the situation of confirming the next interval; When in the upper position data of low resolution more, producing skew with respect to more high-resolution the next position data, two positions synchronization of data state produces error, thereby confirms wrong the next interval according to synchronous side-play amount sometimes.As the reason that produces this side-play amount, the error (being also referred to as " non-reproducibility error ") that roughly is divided into error (being also referred to as " reproducibility error ") and does not have repeatability with repeatability.The error that reproducibility error is mainly had by the device self in the testing agency of detection signal or the apparatus structure of scrambler 100 inside etc. mostly causes; On the other hand, the non-reproducibility error mostly mainly vibration when obtaining detection signal or parasitic light etc. like this noise of real-time change cause.In addition, confirm to handle, can proofread and correct above-mentioned side-play amount to a certain degree, can confirm interval accurately through the interval.But, when upper position data reaches interval only about half of of the next position data with respect to the side-play amount of the simultaneous bias of the next position data, be difficult to confirm interval accurately according to the upper position data and the combination of the next position data.But, even when the scrambler of this embodiment 100 produces the only about half of side-play amount in interval of the next position data like this in upper position data, also can suitably proofread and correct, can confirm the interval of the next position data exactly.Therefore, this scrambler 100 can calculate accurate and high-resolution absolute position.
Therefore, below, specify the scrambler 100 of this embodiment with reference to Fig. 2.
In addition; Below for the ease of explanation; Illustrate such situation: scrambler 100 is likewise obtained 3 different position datas of resolution (the 1st position data～the 3rd position data that comprises the absolute position) with above-mentioned illustration, utilizes multiplication accumulation mode to come the absolute position of the resolution of the highest position data of calculating resolution.This only is an illustration, and scrambler 100 can also be obtained 2 different position datas of resolution or the position data more than 3 is calculated the absolute position.But in these cases, a plurality of position datas that are used for calculating the absolute position that obtain at scrambler 100 comprise the position data (the for example minimum position data of resolution) of the expression resolution absolute position lower than other position data at least.
Here, the 1st position data d1 is minimum at 3 position data intermediate-resolutions, the 1 circle (example in mobile range or upper interval of expression turning axle SH2.Be also referred to as the 1st interval T1.) in the absolute position (below be also referred to as " the 1st position p1 " " reference position Dorg ".), be also referred to as the benchmark absolute position data.
The resolution of the 2nd position data d2 is only high than the 1st position data d1, and expression cuts apart with the 2nd 2 or more that several n2 (for example n2=4) are cut apart 1 circle and in 1 circle position in the interval of (example in upper interval or the next interval) in the 2nd interval T2 of repetition n2 time (below be also referred to as " the 2nd position p2 ").
Then; The resolution of the 3rd position data d3 is the highest, expression cut apart with the 3rd 2 or more that several n3 (for example n3=4) are cut apart the 2nd interval T2 and the 2nd interval in position in the interval among the 3rd interval T3 (example in the next interval) of repetition n3 time (below be also referred to as " the 3rd position p3 ").
In addition; As stated; The 1st position data can also show as such position data (being also referred to as " benchmark absolute position data Dorg "); The resolution of this position data is minimum, expression cut apart with the 1st that several n1 (n1=1) are cut apart mobile range (1 circle) and the interior position (being also referred to as " reference position ") of the 1st interval T1.
Also will under the relativeness of resolution, be called " following bit data " according to the high position data of resolution in 2 adjacent position datas of the height order of resolution, the position data that resolution is low is called " going up bit data ".And, in the case, also will descend bit data and go up the interval that the position is represented respectively in bit data interval to be called " the next interval " and " upper interval ".
More particularly, be example with the 1st position data d1 and the 2nd position data d2, the 1st position data d1 is last bit data, the 2nd position data d2 is following bit data.And, be upper interval by the locative interval T1 of the 1st position data d1 (mobile range), be the next interval by the 2nd position data d2 the locative the 2nd interval T2.On the other hand, be example with the 2nd position data d2 and the 3rd position data d3, the 2nd position data d2 is last bit data, the 3rd position data d3 is following bit data.And, be upper interval by the 2nd position data d2 the locative the 2nd interval T2, be the next interval by the 3rd position data d3 the locative the 3rd interval T3.In addition, bit data on the 3rd the highest position data d3 of resolution on the relativeness of resolution can not become, the 1st position data d1 that resolution is minimum can not become bit data down, and this is obvious.
(structure of 1-3. scrambler)
Fig. 2 is the key diagram that is used to explain the scrambler of one embodiment of the present invention.
As shown in Figure 2, scrambler 100 roughly has: dish 110, position data obtain portion 120, storage part 130, correction portion 140, interval definite portion 150 and absolute position calculating part 160.
Dish 110 is connected with turning axle SH2, rotates along with the rotation of turning axle SH2.On the other hand; This dish 110 is respectively arranged with the 1st testing agency～the 3rd testing agency; Have n2 the cycle (for example n2=4), 1 in n1 cycle (n1=1), 1 circle and have these 3 detection signals (below, be also referred to as " 1X signal, 4X signal, 16X signal ") in n2 * n3 cycle (for example n3=4) in enclosing so that obtain respectively to have in 1 circle.
In addition, the 1st testing agency～the 3rd testing agency is not special to be limited, and gets final product so long as can obtain the testing agency of the detection signal in each cycle.For example, in this embodiment, as the 1st testing agency, the pole arrangement of this magnet is disposed at the rotation center of dish 110 in the face parallel with dish 110 with magnet.On the other hand, on dish 110, utilize the optical detection principle to be formed with the track in corresponding with the 2nd testing agency and the 3rd testing agency respectively a plurality of slits.The track of the 2nd testing agency is formed with n2 bar slit, so that cut apart 1 circle and obtain to have the detection signal in n2 cycle in 1 circle with cutting apart several n2.In addition, in this embodiment, illustrate the situation of n2=4, in fact preferably n2 is set at bigger value.On the other hand, the track of the 3rd testing agency is formed with n2 * n3 bar slit, so that cut apart 1 circle and obtain to have the detection signal in n2 * n3 cycle in 1 circle with cutting apart several n2 * n3.In addition, the 1st testing agency that enumerates here～the 3rd testing agency is merely an example, and as stated, this embodiment is not limited to the example of this testing agency.
Position data obtains portion 120 and obtains 3 position datas (the 1st position data d1～the 3rd position data d3) of the resolution (1:n2:n2 * n3=1:4:16 etc.) of each testing agency from coiling 110 the 1st testing agency～the 3rd testing agencies of having.More particularly, position data obtains portion 120 and possesses the 1st position data that obtains the 1st position data d1～the 3rd position data d3 respectively and obtain portion 121～the 3rd position data and obtain portion 123.And the 1st position data obtains portion 121～the 3rd position data and obtains portion 123 and utilize and respectively detect principle and obtain the 1st position data d1～the 3rd position data d3 with each resolution from corresponding respectively the 1st testing agency～the 3rd testing agency.
Here, obtaining portion 123 with the 3rd position data is that example explains that the 1st position data obtains the position data that portion 121～the 3rd position data obtains portion 123 and obtains.The 3rd position data obtains the track irradiates light of portion 123 to the 3rd testing agency of dish 110, detects from the reflected light that is formed on a plurality of slits on this track.Like this, in this embodiment, detection signal become in 1 circle according to slit bar number (the roughly sinuous signal of promptly cutting apart the corresponding cycle repetition of several n2 * n3).Therefore, the 3rd position data obtains 123 pairs of these sinuous detection signals of portion and carries out analog-to-digital conversion, doubles to m3 times, then, is transformed to electric angle, obtains the 3rd position data d3 of the 3rd position p3 in expression the 3rd interval T3 thus.Though the 1st position data obtains portion 121 and the 2nd position data obtains 122 testing agencies of portion or resolution is different, obtain portion 123 with the 3rd position data and likewise obtain the 1st position data d1 of the 1st position p1 in expression the 1st interval T1 (1 circle) and the 2nd position data d2 that representes the 2nd position p2 in the 2nd interval T2 respectively.
In addition, the scrambler 100 of this embodiment obtain testing agency that mechanism is a detection signal for position data and from detection signal to not special qualifications such as changing direction of position data, obviously be not limited to the example of explaining here.
Storage part 130 with after state the low turning axle SH2 of following bit data that correction portion 140 goes up corrected value that bit data uses with respect to the following timing of bit data and resolution when obtaining bit data absolute position record explicitly.In this embodiment,, use and absolute position as the resolution of the last bit data equal extent of calibration object as the absolute position of the low resolution that is associated with corrected value.
In this embodiment, use two kinds of corrected value r1, r2.After the correction portion that states 140 right to two position datas that in the relativeness of resolution, are in bit data and the relation of following bit data, bit data is with respect to the side-play amount of descending bit data in the correction.Therefore, the scrambler 100 of this embodiment side-play amount of proofreading and correct in the 1st position data d1 the side-play amount that produces with respect to the 2nd position data d2 of the 1st centering and in the 2nd position data d2, producing with respect to the 3rd position data d3 of the 2nd centering.Therefore, the corrected value as the side-play amount of proofreading and correct the 1st position data d1 records storage part 130 with corrected value r1, and the corrected value as the side-play amount of proofreading and correct the 2nd position data d2 records storage part 130 with corrected value r2.When scrambler 100 calculates absolute positions according to 2 position datas because only form one right, so a kind of corrected value is recorded storage part 130.On the other hand, when scrambler 100 calculated the absolute position according to the j more than 3 position data, it was right to form j-1, so j-1 kind corrected value is recorded storage part 130.In this embodiment, for two kinds of corrected value r1 that store the use of this embodiment, the storage part of r2 are distinguished, storage part 130 possesses the 1st storage part 131 of record corrected value r1 and the 2nd storage part 132 of record corrected value r2.
In addition; As stated; Corrected value r1, r2 and the absolute position when obtaining the last bit data as calibration object record the 1st storage part 131 and the 2nd storage part 132 explicitly respectively, the resolution of this absolute position liken to into the following bit data of the centering of calibration object low.Here, in this embodiment,, use the absolute position have with the resolution of the resolution last bit data equal extent lower than following bit data as the absolute position that is associated with corrected value r1, r2.That is, record the 1st storage part 131 explicitly with corrected value r1 with absolute position as the resolution of the 1st position data d1 equal extent of last bit data.On the other hand, record the 2nd storage part 132 explicitly with corrected value r2 with absolute position as the resolution of the 2nd position data d2 equal extent of last bit data.
Example about generation method of this corrected value r1, r2 etc.; After state in the explanation of scrambler manufacturing installation and be described in detail; About the absolute position that is associated with corrected value r1, r2, in following correction portion 140 with after state the scrambler manufacturing installation and be described in detail.Wherein, the summary of this generation method etc. is described below.That is, for example scrambler manufacturing installation etc. is determined in the last bit data that is corrected the side-play amount that produces with respect to bit data down in advance, calculates corrected value r1, the r2 of this side-play amount of recoverable according to this side-play amount.On the other hand, calculating such as scrambler manufacturing installation or obtain the absolute position under the resolution of the last bit data when calculating this corrected value r1, r2.Then, scrambler manufacturing installation etc. records storage part 130 explicitly with corrected value r1, r2 and absolute position.
In addition; About with turning axle SH2 1 the circle (mobile range) in the corresponding corrected value r2 of repeated the 2nd position data d2; So long as simultaneous bias is the absolute position of 1 the 2nd part in the interval T2, then record the 2nd storage part 132 accordingly with this local absolute position.On the other hand, when simultaneous bias is crossed over adjacent a plurality of the 2nd interval T2, preferably in this a plurality of the 2nd interval T2, corrected value r2 is set at same value and records the 2nd storage part 132.
The corrected value that is associated with this absolute position is obtained in the absolute position of correction portion 140 bases and the resolution of the resolution equal extent that obtains the last bit data when obtaining the last bit data that portion 120 obtains by position data from storage part 130.Then, correction portion 140 uses the corrected value of being obtained to proofread and correct bit data.That is, correction portion 140 is to bit data on the height relation that is in continuous in the relativeness of resolution and each of these two position datas of bit data is right down, proofreaies and correct the last bit data of low resolution wherein.
Promptly; In this embodiment; Though use these 3 position datas of the 1st position data d1～the 3rd position data d3, correction portion 140 utilizes as the 1st couple the 1st position data d1 and the relation of the 2nd position data d2, the side-play amount of proofreading and correct the 1st position data d1 according to corrected value r1; Utilization is as the 2nd couple the 2nd position data d2 and the relation of the 3rd position data d3, the side-play amount of proofreading and correct the 2nd position data d2 according to corrected value r2.In addition, describe in order to distinguish each correction, the correction portion 140 of this embodiment possesses the 1st correction portion 141 and the 2nd correction portion 142 of proofreading and correct the 2nd position data d2 of proofreading and correct the 1st position data d1.
In this embodiment; As stated, correction portion 140 carry out corrected value r1 that timing uses, r2 and during with the last bit data that obtains as each calibration object should on absolute position of resolution of bit data equal extent record the 1st storage part 131 or the 2nd storage part 132 explicitly respectively.
The 1st position data d1 (going up an example of bit data) that the 1st correction portion 141 proofreaies and correct uses the minimum resolution in 3 position datas to represent the absolute position of turning axle SH2, also is benchmark absolute position data Dorg.Therefore, the 1st correction portion 141 self obtains with the 1st position data d1 according to the 1st position data d1 and self records the corrected value r1 in the 1st storage part 131 explicitly.Then, the side-play amount with respect to the 2nd position data d2 that in the 1st position data d1, produces for example with corrected value r1 that is obtained and the 1st position data d1 addition (or subtracting each other), is proofreaied and correct by the 1st correction portion 141.In addition, for the 1st position data d1 after will proofreading and correct distinguishes with proofreading and correct the 1st preceding position data d1, be called " the 1st correction data d1 ' ".
On the other hand, because interval interior position of the 2nd position data d2 (going up an example of bit data) expression rather than absolute position that the 2nd correction portion 142 proofreaies and correct, so can't directly obtain corrected value r2 according to the 2nd position data d2.And, before the treatment for correcting of the 2nd correction portion 142, after the absolute position calculating part 160 stated the 2nd position data d2 is used as bit data down, calculate the absolute position that has with the resolution of the 2nd position data d2 equal extent.Therefore, the 2nd correction portion 142 obtains the absolute position that this absolute position calculating part 160 is calculated.Also this absolute position is called " middle absolute position ", the absolute position data of representing middle absolute position is called " middle absolute position data Dmid ".Like this; The 2nd correction portion 142 from after the absolute position calculating part 160 stated obtain in the middle of absolute position data Dmid, obtain the middle absolute position of representing with this centre absolute position data Dimd according to middle absolute position data Dmid and record the interior corrected value r2 of the 2nd storage part 132 explicitly.Then, the 2nd correction portion 142 is for example with corrected value r2 that is obtained and the 2nd position data d2 addition (or subtracting each other), and proofreaies and correct the side-play amount with respect to the 3rd position data d3 that in the 2nd position data d2, produces.For the 2nd position data d2 after will proofreading and correct distinguishes with proofreading and correct the 2nd preceding position data d2, be called " the 2nd correction data d2 ' ".
In addition; Can also be different with this embodiment; Corrected value r2 also records storage part 130 (the 2nd storage part 132) with resolution than the low absolute position of each time bit data (the 3rd position data d3) explicitly except with the absolute position of the resolution of last bit data (the 2nd position data d2) equal extent.In the case; Correction portion (the 2nd correction portion 142) for example obtain expression resolution not only liken to the 3rd position data d3 for following bit data low, also liken to into the low absolute position of the 2nd position data d2 of last bit data the 1st position data d1 (promptly; Benchmark absolute position data Dorg), obtain the corrected value r2 that is associated with the 1st position data d1 from the 2nd storage part 132.In addition; As stated; In this embodiment; Correction portion (the 2nd correction portion 142) calculating part 160 from the absolute position (the 1st absolute position calculating part 161) is obtained the absolute position (middle absolute position) that has with as the resolution of last bit data (the 2nd position data d2) equal extent of the centering of calibration object, obtains the corrected value r2 that is associated with this absolute position, centre.Therefore, under the situation of this embodiment, the precision of the correction position of correction portion can be improved, correction can be more suitably carried out local offset.
In addition, the correction portion 140 of this embodiment can also be only to last bit data and down 1 couple of these two position datas of bit data proofread and correct.But; As this embodiment; Correction portion 140 proofread and correct respectively bit data and down these two position datas of bit data all to the time; Scrambler 100 can improve the allowable value for the side-play amount that comprises reproducibility error and non-reproducibility error, more stably the high absolute position of computational accuracy.
Interval following bit data when confirming last bit data that portion 150 proofreaied and correct according to correction portion 140 and obtaining bit data on this, for upper interval, definite the next interval of having obtained down bit data.Promptly; Interval confirm portion 150 right to 2 position datas of the object of being proofreaied and correct as correction portion 140; Last bit data after use proofreading and correct respectively and go up the paired following bit data of bit data with this, the affiliated the next interval of bit data is which the next interval in a plurality of the next interval that comprises in the upper interval under confirming.
In other words, the centering of the object of being proofreaied and correct as correction portion 140, following bit data is represented the position in the next interval uniquely, and on the other hand, this next interval is cut apart upper interval and obtained with the number of cutting apart of regulation, in upper interval, repeats repeatedly.Therefore, only according to following bit data, can't differentiate bit data down and belong to which the next interval in a plurality of the next interval that upper interval comprises.Therefore, intervally confirm that portion 150 uses down bit data and goes up bit data and confirm the affiliated the next interval of bit data down.At this moment, the last bit data after the correction that 150 use correction portions 140 of interval definite portion are proofreaied and correct, rather than position data obtains the last bit data that portion 120 is obtained.Therefore, the interval precision of confirming can significantly improve in interval definite portion 150.
More particularly confirm portion 150 between the area pellucida.
In this embodiment, form the relation of bit data and following bit data on 2 formations 2 position datas to (the 1st position data d1 and the 2nd position data d2 to, the 2nd position data d2 and the 3rd position data d3 to).Therefore, interval definite portion 150 is right to each, confirms its next interval (the 1st interval T1 or the 2nd interval T2) of bit data (the 1st position data d1 or the 2nd position data d2) down.Therefore, right corresponding to each, interval definite portion 150 has the 1st interval definite portion 151 and portion 152 is confirmed in the 2nd interval.
Interval confirm that portion 151 intervally confirms portion 152 with the 2nd about the 1st,, constitute in an identical manner basically though carry out interval definitely to difference.Therefore,, illustrate the 1st interval definite portion 151 here.The 1st interval definite portion 151 obtains the 2nd position data and obtains the following bit data of the 2nd position data d2 conduct that portion 122 obtains.And the 1st interval confirms that portion 151 directly obtains the 1st position data to obtain the 1st position data d1 that portion 121 obtained as last bit data, but the 1st position data d1 ' after the correction that the 1st correction portion 141 that obtains is proofreaied and correct.And, the 1st interval confirm portion 151 according to the 2nd position data d2 that is obtained with proofread and correct after the 1st position data d1 ' confirm the 2nd interval T2.
The interval of carrying out here in addition, is confirmed that method can make and is ined all sorts of ways.Promptly; In a plurality of the next interval that upper interval comprised; Can " bright " be confirmed as in the next interval that obtain time bit data; But also can for example implement processing such as overlapping or addition with following bit data, confirm that bit data is confirmed as " secretly " with the next interval thus with respect to the position of last bit data down last bit data.In addition, the processing when " bright " confirmed as in the next interval is not special to be limited, for example, and such processing below can using.That is, for example, can confirm the next interval according to the represented position of last bit data after proofreading and correct and following bit data or the combination of the symbol after the processing.In addition; For example, about the last bit data after proofreading and correct, can be through the processing of doubling, Filtering Processing or with the comparison process of threshold value etc.; Last bit data is made as down cutting apart of bit data of several resolution, and the next interval of bit data is directly confirmed as down in the position that the last bit data of this resolution is represented.In addition, in this embodiment, use than these and intervally confirm to handle more difficult labour and give birth to the interval of interval error when confirming and confirm processing.
Confirm to handle in order to carry out this interval, in this embodiment, position data such below the use is as the 1st position data d1～the 3rd position data d3.That is, use the squinted position data in 1/2nd cycles in the next interval of time bit data with respect to the 1st position data d1 as last bit data as following the 2nd position data d2 of bit data.And, use the squinted position data in 1/2nd cycles in the next interval of time bit data with respect to the 2nd position data d2 as last bit data as following the 3rd position data d3 of bit data.
In addition; A plurality of position datas for 1/2nd cycles generating the next interval of this mutual skew; Mode with 1/2nd cycles in the next interval of squinting forms testing agency (the 1st testing agency～the 3rd testing agency) respectively; Wherein, position data obtains portion 120 and obtains position data from these testing agencies.Promptly; It is not in full accord with the cycle in 1 upper interval (spacing) of upper the 2nd testing agency to use optical profile type to detect cycle in a plurality of the next interval (spacing) of the 3rd testing agency of principle, and forms with the mode in 1/2nd cycles (1/2nd spacing) in the next interval of squinting.And the 2nd testing agency and the 1st testing agency form with same formation position relation.As a result, as stated, generate the position data in 1/2nd cycles in the next interval of a plurality of skews.
With above-mentioned same, intervally confirm that portion 151 is an example with the 1st, the 1st interval confirm portion 151 obtain as above-mentioned generation and each other skew as the 1st position data d1 ' and the 2nd position data d2 in 1/2nd cycles of the 2nd interval T2 in the next interval.Like this, the 1st interval definite portion 151 at first carries out the resolution change and handles, and makes the resolution of the 2nd position data d2 that is equivalent to the high following bit data of resolution consistent virtually with the resolution of the 1st position data d1 ' that is equivalent to bit data.In addition, this resolution change is handled also can handle to improve resolution through the 1st position data d1 ' is doubled virtually, can also handle to reduce resolution through the 2nd position data d2 being carried out frequency division virtually.And, become easily in order to make subsequent treatment, can implement multiplication or frequency division respectively to the 1st position data d1 ' and the 2nd position data d2 and handle and be used as the resolution change and handle, make resolution consistent.In addition, for example, except portion 150 is confirmed in the interval, in position data obtains the multiplication processing etc. of portion 120, also can carry out this resolution change and handle.
After this resolution change was handled, the 1st interval definite portion 151 deducted the 2nd consistent position data d2 of resolution from the 1st position data d1 '.Then, the 1st interval confirms that portion 151 cuts apart number divided by resolution in the 2nd interval T2 when consistent with above-mentioned subtraction result, this result of being divided by is implemented later the casting out of radix point handle to wait and carry out integer.Like this, for upper interval, the result of calculation after these are handled is that integer is represented i.e. the 2nd interval T2 (with reference to Fig. 5 and Fig. 6 etc.) in the next interval uniquely.
Confirm to handle according to this interval of this embodiment, last bit data with respect to the side-play amount of descending bit data mainly as being included in the phase division result less than the later value of 1 radix point.Therefore, when this phase division result is carried out integer, even bigger side-play amount also can be proofreaied and correct.On the other hand, according to confirm handling in this interval, need be based on the judgment processing of regulation logic etc. etc., but can confirm the next interval through direct calculating, load so can reduce to handle.
In addition, according to confirm handling in this interval, when the resolution that makes bit data and following bit data was consistent virtually, this resolution was set highly more, and then correctable side-play amount is got over increase.But, even improve resolution, for example in upper data-bias 1/2nd when above of the next interval, this side-play amount is included in the phase division result as the value 1 or more, even utilization should confirm that processing also was difficult to correction in the interval.
But the scrambler 100 of this embodiment has correction portion 140 etc., can utilize corrected value to come to confirm between correction zone the last bit data of use in the processing thus in advance, confirms the next interval according to last bit data after this correction and following bit data.Therefore; As such corrected value, for example the value with the recoverable reproducibility error records storage part 130 in advance, thus; The scrambler 100 of this embodiment reduces reproducibility error before can confirming in the interval to handle, and can improve the interval precision of confirming that the interval in the portion 150 is confirmed.That is, the scrambler 100 of this embodiment is confirmed through carrying out the interval exactly, even under the situation that produces bigger side-play amount, also can stably generate the high absolute position of precision.
Then, the 1st interval definite portion 151 exports the determined the 2nd interval T2 to absolute position calculating part 160.On the other hand, the 2nd interval confirms that portion 152 utilizes and the 3rd interval T3 is confirmed in the 151 same processing of the 1st interval definite portion, and exports the determined the 3rd interval T3 to absolute position calculating part 160.
Absolute position calculating part 160 is confirmed portion 150 fixed the next intervals and the following bit data of having confirmed this next interval, the absolute position under the resolution of calculating and this time bit data equal extent according to the interval.As a result, but the absolute position data Dabs of the absolute position of the highest position data equal extent of absolute position calculating part 160 represents and resolution and export control device CT to.
At this moment; The stage of absolute position calculating part 160 before calculating the highest absolute position of final resolution; Also confirm whole the next interval that portion 150 has confirmed and confirm the highest following bit data of resolution in the position data that portion 150 confirmed that the centering in the next interval comprises by the interval according to the interval; Calculate middle absolute position Dmid and export correction portion 140 to, this absolute position, centre representes that the resolution that has with following bit data equal extent is the middle absolute position of mid-resolution.
The absolute position of the resolution of the 3rd position data d3 equal extent that scrambler 100 calculating of this embodiment of 3 position datas of use and resolution are the highest; And, calculate the absolute position of resolution with the 2nd position data d2 equal extent with mid-resolution as middle absolute position.Therefore, the absolute position calculating part 160 of this embodiment has the structure of the 1st absolute position calculating part 161 as the middle absolute position of calculating the latter, has the structure of the 2nd absolute position calculating part 162 as the final absolute position of calculating the former.
The 1st absolute position calculating part 161 is obtained the 1st interval 151 the determined the 2nd interval T2 of portion of confirming and the 2nd position data obtains the 2nd position data d2 that portion 122 is obtained.Then, the 1st absolute position calculating part 161 calculates middle absolute position according to the 2nd interval T2 that is obtained and the 2nd position data d2.In other words, the determined the 2nd interval T2 representes the position of the 2nd interval T2 with respect to the 1st interval T1 (being 1 circle of mobile range).On the other hand, the 2nd position data d2 representes the interval interior position in the 2nd interval T2.Therefore, the 1st absolute position calculating part 161 for example capable of using with the 2nd interval T2 as the upper bit of middle absolute position, with the next accumulated process than top grade of the 2nd position data d2 as middle absolute position, absolute position in the middle of calculating.
In addition; Confirm that portion 150 etc. is transformed to the 2nd position data d2 under the situation of lower than the resolution that had originally virtually resolution obtaining portion 120 or interval through position data; 161 couples the 2nd position data d2 of preferred the 1st absolute position calculating part implement multiplication processing etc.; Improve the resolution of the 2nd position data d2 thus and become the resolution that had originally, then, absolute position in the middle of calculating.
The middle absolute position data Dmid that the 1st absolute position calculating part 161 calculates is exported to the 2nd correction portion 142, as stated, is used for obtaining the corrected value r2 of the 2nd correction portion 142.Then, the 2nd position data d2 proofreaies and correct in the 2nd correction portion 142, the 2nd position data d2 ' after using it to proofread and correct, and the 2nd intervally confirms that portion 152 confirms the 3rd interval T3s relative with the 2nd position data d2 '.
On the other hand, the 2nd absolute position calculating part 162 is obtained the 1st interval definite portion 151 and the 2nd interval 152 the determined the 2nd interval T2 of portion of confirming and the 3rd interval T3, and obtains the 3rd position data and obtain the 3rd position data d3 that portion 123 is obtained.
At this moment; Same with above-mentioned the 1st absolute position calculating part 161; When being obtained portion 120 or interval definite portion 150 etc. through position data, the 3rd position data d3 is transformed under the situation of lower than the resolution that had originally virtually resolution; The 2nd absolute position calculating part 162 is through implementing that to the 3rd position data d3 multiplication is handled etc., improves the resolution of the 3rd position data d3 and becomes the resolution that had originally.
Then; The 2nd absolute position calculating part 162 is same with above-mentioned the 1st absolute position calculating part 161; Utilize with the determined the 2nd interval T2 as the upper bit of final absolute position data Dabs, with the determined the 3rd interval T3 as the meta bit, with high-resolution the 3rd position data d3 as the most the next accumulated process than top grade, the absolute position data Dabs of the absolute position that represents resolution is very high.Then, export the absolute position data Dabs that calculates to control device CT.
(action of 1-4. scrambler)
Then, explain that with reference to Fig. 3 the absolute position of scrambler 100 of one embodiment of the present invention of above explanation calculates action.Fig. 3 is the key diagram of action that is used to explain the scrambler of this embodiment.
For example when the command signal according to control device CT etc. began the absolute position computing, scrambler 100 was at first handled step S101.
In this step S101 (position data obtains an example of step), position data obtains portion 120 and almost obtains a plurality of detection signals (1X signal, 4X signal, 16X signal) that comprise absolute signal simultaneously.Then, position data obtains portion 120 through each detection signal being implemented digital-analog conversion processing, multiplication processing etc., generates different a plurality of the 1st position data d1～the 3rd position data d3 of resolution.After the processing of this step S101, get into step S103.
In addition, before the calculating of final high-resolution absolute position data Dabs finished, repeating step S103～step S107 at first explained the processing among step S103～step S107 of the 1st time.Then, after the explanation of step S109, the processing among step S103～step S109 of the 2nd time is described.
In the processing of the 1st time the step S103 (example of aligning step) that after the processing of step S101, begins; The 1st correction portion 141 is the 1st position data d1 according to the benchmark absolute position data Dorg of expression absolute position, obtains the corrected value r1 that is associated with this absolute position from the 1st storage part 131.Then, the 1st correction portion 141 is corrected value r1 that is obtained and the 1st position data d1 addition (or subtracting each other), generates the 1st position data d1 ' after the correction.Then, get into step S105.
In the 1st time step S105 (an interval example of confirming step); The 1st interval definite portion 151 confirms the 2nd interval T2 of the 2nd position data d2 according to the 1st correction data d1 ' that in step S103, proofreaies and correct and the 2nd position data d2 that in step S101, obtains to the 1st position data d1.Then, get into step S107.
In the 1st time step S107 (example of absolute position calculation procedure), the 1st absolute position calculating part 161 according to the 2nd interval T2 that in step S105, confirms and the 2nd position data d2 that in step S101, obtains calculate with the absolute position of the resolution of the 2nd position data d2 equal extent promptly in the middle of the absolute position.Then, get into step S109.
In step S109, whether the absolute position that scrambler 100 is confirmed in step S107, to calculate is the final high-resolution absolute position (absolute position data Dabs) that has.Under the situation that is not absolute position data Dabs, promptly be under the situation of middle absolute position data Dmid, get into step S103.
Processed steps S103 is promptly among the 2nd time the step S103 (example of aligning step) after the processing of step S109; The 2nd correction portion 142 obtains the corrected value r2 that is associated with this absolute position according to the middle absolute position data Dmid that in step S107, calculates from the 2nd storage part 132.Then, the 2nd correction portion 142 generates the 2nd position data d2 ' after proofreading and correct thus with corrected value r2 that is obtained and the 2nd position data d2 addition (or subtracting each other).Then, get into step S105.
In the 2nd time step S105 (an interval example of confirming step); The 2nd interval definite portion 152 confirms the 3rd interval T3 of the 3rd position data d3 according to the 2nd correction data d2 ' that in step S103, proofreaies and correct and the 3rd position data d3 that in step S101, obtains to the 2nd position data d2.Then, get into step S107.
In the 2nd time step S107 (example of absolute position calculation procedure); The 2nd interval T2 that the 2nd absolute position calculating part 162 bases are confirmed in step S105 and the 3rd interval T3 and the 3rd position data d3 that in step S101, obtains calculate the final high-resolution absolute position that has with the 3rd position data d3 equal extent.Then, get into step S109.
In step S109, as stated, whether the absolute position that scrambler 100 is confirmed in step S107, to calculate is the final high-resolution absolute position (absolute position data Dabs) that has.And after the processing of the 2nd time step S107, being judged as is absolute position data Dabs, to control device CT output absolute position data Dabs, tenth skill.
(the error correction example of 1-5. scrambler)
More than, the structure and the action of scrambler 100 grades of this embodiment have been described, but have been become easily for the understanding of the remarkable action effect that makes these scrambler 100 grades etc. here, the error correction example of scrambler 100 is described with reference to Fig. 4～Fig. 9.Fig. 4～Fig. 8 is the key diagram of the 1st error correction example that is used to explain the scrambler of this embodiment.Fig. 9 is the key diagram of the 2nd error correction example that is used to explain the scrambler of this embodiment.
In addition, in the above-described embodiment, be that these three data conditions of the 1st position data d1～the 3rd position data d3 are illustrated as example with a plurality of position datas of in calculate the absolute position, using.On the other hand, basically to every pair of two position datas of last bit data and following bit data, proofread and correct, intervally confirm, definitely processing such as status calculating.Therefore, below, limit not go up especially bit data and down bit data be that which kind of situation describes, suitably supplementary notes are according to the 1st position data d1～the 3rd position data d3 and different aspects.
Fig. 4～Fig. 9 illustrates the situation as the turning axle SH2 constant speed rotation of moving body, and transverse axis is got time t.And,, the resolution and the consistent virtually situation of the resolution of following bit data that make bit data are described for the ease of the interval processing etc. of confirming is described.
(1-5-1. the 1st error correction example)
At first, as the 1st error correction example,, explain that bit data squints and the situation of between generation simultaneous bias with respect to following bit data partly with reference to Fig. 4～Fig. 8.
As shown in Figure 4, use the interval of this embodiment confirm to handle here, so bit data generates with the mode with respect to 1/2nd (the Δ T) in cycle of the next interval Td of bit data under the upper data-bias down.That is, under this routine situation, the gap of the next interval Td of following bit data is compared with the gap of the upper interval Tu of last bit data, hysteresis delay Δ T (=Td/2) just arrive.In addition, this delay Δ T also is same in the 2nd error correction example.
Last bit data is with respect to bit data is not synchronous locally down, and the profile of last bit data is the upper position pu shown in the solid line.On the other hand, because the next data representation than last bit data position accurately, in Fig. 4, for ease, is utilized in the next position pd that location rule ground increases in 1 cycle that does not produce simultaneous bias, represent the profile of bit data down.The profile of the last bit data when in addition, not producing simultaneous bias is the upper position pu0 that the part dots.Therefore, for example, at moment t1, last bit data produces offset p1, and at moment t2, last bit data produces offset p2.
With digital form the following bit data that produces the last bit data of offset p1, Δ p2 partly like this and do not have error is shown among Fig. 5.On the other hand, in the interval of this embodiment confirms that the interval of portion 150 is confirmed to handle, deduct the next data from upper data.Fig. 5 illustrates the situation of utilizing its subtraction result of numeral, and Fig. 6 illustrates the situation after the curve mapization.Like Fig. 5 and shown in Figure 6, confirm definite interstage of handling of interval of portion 150 in this interval, in moment t1 and these two moment of t2 in the moment, contain and offset p1, the corresponding error of Δ p2.On the other hand, the result that will deduct the next data gained from these upper data is divided by divided by the number (among Fig. 4 etc. be 0～3 4 cut apart) cut apart in 1 the next interval Td of bit data down, makes it below result of calculation fractions omitted point, directly calculates the next interval Td.Fig. 5 and Fig. 6 illustrate determined the next interval Td.In Fig. 5 and the next interval Td shown in Figure 6, at moment t1, suitably proofread and correct the error that causes by offset p1, calculate the next accurately interval Td (0).On the other hand, at moment t2, because offset p2 greater than allowable value, so fixed the next interval Td (0) comprises error, has produced error (+1) with respect to real the next interval Td (3).Fig. 6 illustrates the absolute position Pabs of absolute position calculating part 160 according to fixed the next interval Td and the next data computation.Shown in the absolute position Pabs of moment t2, in the Pabs of this absolute position, also comprise the error that produces when the interval interval of confirming portion 150 is confirmed.
In order to proofread and correct such error, the scrambler 100 of this embodiment has storage part 130 and correction portion 140.Fig. 7 illustrates the corrected value r that records storage part 130 in advance.The offset p2 of above-mentioned moment t2 is+2.Therefore, for error that can correction offset Δ p2, set-1 as this corrected value r.
For above-mentioned moment t2; Set offset p2 as corrected value r; But corrected value r and record storage part 130 explicitly with the absolute position of the resolution of last bit data equal extent is so record corrected value r (=-1) in the storage part 130 under the situation of last bit data pu (=2) explicitly.The upper data representation of supposition absolute position illustrates in Fig. 7.
Therefore, for example at moment t2, correction portion 140 bases obtain the corrected value r (=-1) that is associated with this absolute position with the absolute position of the resolution of last bit data equal extent.Then, bit data is proofreaied and correct with corrected value r that is obtained and last bit data addition by correction portion 140.Then, intervally confirm that the upper data of portion 150 after proofread and correct deduct the next data.Fig. 7 and Fig. 8 illustrate it and subtract each other the result and according to subtracting each other the next interval Td that the result confirms, Fig. 8 also illustrates the absolute position Pabs that calculates according to the next interval Td.
Like Fig. 7 and shown in Figure 8, even in Fig. 5 that does not proofread and correct and the next interval Td shown in Figure 6, produced the moment t2 of error, fixed the next interval Td also can suitably proofread and correct.Therefore, as shown in Figure 8, even also can suitably proofread and correct under the situation that produces bigger offset p2 according to the scrambler 100 of this embodiment, the result can generate the absolute position Pabs that does not comprise error.
The local situation that produces simultaneous bias in the bit data has been described in the 1st error correction example.But; For example in mobile range (1 circle), repeat to produce under the situation of simultaneous bias with respect to the 3rd position data d3 among above-mentioned the 2nd position data d2 of a plurality of the 2nd interval T2; Be not only local error, also produce sometimes and cross over the such error of a plurality of upper interval Tu (being a plurality of the 2nd interval T2 in the case).Here, also such error is called the long period error.
On the other hand, the scrambler 100 of this embodiment can also suitably be proofreaied and correct the long period error of crossing over a plurality of upper interval Tu, and is not only the error of above-mentioned part.Therefore, as the 2nd error correction example, the error correction of the scrambler 100 when below explanation produces the error of crossing over a plurality of upper interval Tu.
(1-5-2. the 2nd error correction example)
Fig. 9 illustrates bit data and following bit data; Should go up bit data and not represent the absolute position; And be illustrated in the upper position pu of repeated upper interval Tu in the mobile range (1 circle), the next position pd of this next data representation repeated the next interval Td in this upper interval Tu.As shown in Figure 9, last bit data is not local, but in a plurality of upper interval Tu (whole upper interval Tu shown in Figure 9), produces simultaneous bias (offset p) with respect to following bit data.In the case, then as shown in Figure 9 if do not carry out the correction of correction portion 140, the interval influence of confirming the 150 determined the next interval Td of portion owing to offset p produces error in the whole zone of the upper interval Tu that produces simultaneous bias.Under these circumstances, only utilize the interval error correction of confirming portion 150, be difficult to confirm to produce the situation of error.
Under these circumstances, in the storage part 130 of the scrambler 100 of this embodiment, will in adjacent a plurality of upper interval Tu, set corrected value r and each absolute position of same value and carry out record explicitly.Schematically illustrated this corrected value of Fig. 9 r.Under the situation that produces such long period error, the scrambler 100 corrected value r that in a plurality of upper interval Tu, are set at same value capable of using of this embodiment proofread and correct bit data on whole in a plurality of upper interval Tu.Therefore, scrambler 100 is to the gamut that produces this long period error, can likewise suitably proofread and correct with above-mentioned the 1st error correction example and confirm the error of not proofreaied and correct during the interval of portion 150 is confirmed to handle in the interval, stably generates the high absolute position of precision.
(the effect example of this embodiment of 1-6.)
More than, explained one embodiment of the present invention scrambler 100, scrambler 100 action and have the drive unit DV of this scrambler 100.According to these scramblers 100 etc., when utilizing multiplication accumulation mode to calculate high-resolution absolute position, before confirming that by the interval portion 150 carries out confirming of the next interval, through correction portion 140 proofread and correct in this interval is confirmed use on bit data.Therefore, even producing than interval when confirming the big side-play amount of portion's 150 correctable side-play amounts, high-resolution absolute position is stably measured in the influence that these scrambler 100 grades also can correction offset.In addition, at this moment, decide in 140 pairs in correction portion bit data to carry out the corrected value r that timing uses according to the offset p that measures in advance.Therefore, the composition of the offset p that proofreaied and correct of corrected value r is also referred to as reproducibility error.As these scrambler 100 grades, utilizing after correction portion 140 proofreaied and correct reproducibility error in advance, utilize and intervally confirm that portion 150 proofreaies and correct the non-reproducibility errors, can significantly improve robustness thus for error.
In addition, calculating according to the position data more than 3 under the situation of absolute position, scrambler 100 should be gone up bit data to any 1 pair of correction of a plurality of centerings of last bit data and following bit data, can improve above-mentioned so anti-error performance thus.But, as the scrambler 100 of this embodiment, when to all to carrying out the timing of correction portion 140, can further improve anti-error performance.
In addition; When the position data of not representing the absolute position forms to calibration object as last bit data; In this embodiment; In order to confirm error amount r, correction portion 140 obtains the correction that the corrected value r that is associated with this absolute position, centre goes up bit data according to having with the resolution of last bit data equal extent and by the middle absolute position that absolute position calculating part 160 calculates.Therefore, correction portion 140 can proofread and correct with very fine precision, can improve the precision of correction.
In addition, the definite processing of the definite processing in the definite portion in interval 150 employed intervals and other interval is compared in this embodiment, and is higher to the allowable value of error, and the load in the definite processing in interval is also little.Moreover, the interval of this embodiment confirms that processing can directly utilize computing to obtain the next interval, so confirm the corrected value r of use in correction portion 140 easily.Therefore, if use the interval of this embodiment to confirm to handle, then can more easily make scrambler 100 etc.
< the 2. manufacturing of the scrambler of this embodiment >
Below, in the generation method of narration corrected value r etc., the manufacturing etc. of the scrambler of one embodiment of the present invention is described.In addition; The generation methods of corrected value r etc. are so long as can generate the method for the corrected value r that can suitably proofread and correct the side-play amount that in last bit data, produces with respect to following bit data; Then not special the qualification can be the identical various generation methods such as generation method with following explanation.Below, illustrate the method for corrected value r more accurately that more easily generates in the various distortion.
(structure of 2-1. scrambler manufacturing installation)
One example of structure of manufacturing installation 200 of the scrambler of this embodiment at first, is described with reference to Figure 10.Figure 10 is the key diagram of an example of structure of manufacturing installation that is used to explain the scrambler of this embodiment.
Shown in figure 10, manufacturing installation 200 has position data and obtains portion 210, interval definite portion 150, absolute position calculating part 160, benchmark absolute position calculating part 220, side-play amount determination part 230, corrected value generation portion 240, recording portion 250 and control part 260.
This manufacturing installation 200 for example is connected with drive unit DV, obtains the position data that obtains in the inside of scrambler 100 from drive unit DV, to the upper command signal of the control device CT of drive unit DV output accessory drive DV.Therefore, in this manufacturing installation 200, control device CT controls power generation arrangement PG according to the upper command signal of manufacturing installation 200.But, to make at manufacturing installation 200 under the situation of scramblers 100 monomers, manufacturing installation 200 is variable more to have control device CT and motor M as drive unit DV structure shown in Figure 10 etc.
In order to realize the action of following explanation, the control part 260 that manufacturing installation 200 is had generates upper command signal and exports control device CT to.On the other hand, in order to realize the action of following explanation, this control part 260 also carries out the control of other structure that manufacturing installation 200 has.In order to omit repeat specification; In the action example of following explanation, specify each function etc. of the structure (position data obtains portion 210, intervally confirms portion 150, absolute position calculating part 160, benchmark absolute position calculating part 220, side-play amount determination part 230, corrected value generation portion 240, recording portion 250) of the manufacturing installation 200 beyond this control part 260.
(action of 2-2. scrambler manufacturing installation)
Then, with reference to Figure 11 explain Figure 10 action one example of manufacturing installation 200 of illustrative scrambler.Figure 11 is the key diagram of action one example of manufacturing installation that is used to explain the scrambler of this embodiment.
Manufacturing installation 200 is handled each step shown in Figure 11 to the whole bit data (for example the 1st position data d1 or the 2nd position data d2) that go up more than 1 or 2 that can be used as calibration object, thus generation corrected value r and recording in the storage part 130 of scrambler 100.At this moment, manufacturing installation 200 is confirmed corrected value r according to each right as 2 position datas of calibration object.Thus; Have a plurality of to the time, that is, and when using position data more than 3 to measure the absolute position; Manufacturing installation 200 is according to these a plurality of resolution orders from low to high as the last bit data of calibration object to separately; Right to each, handle each step shown in Figure 11, store corrected value r into scrambler 100.Therefore below, illustrate to have minimum the last bit data of resolution to, handle the situation of each step, and suitably remark additionally with respect to the difference in other each right step.
In addition, manufacturing installation 200 is the corrected value r in the whole zone of mobile range (promptly 1 enclosing) of turning axle SH2 through handling each step shown in Figure 11, being created on moving body, stores in the scrambler 100.For this reason, manufacturing installation 200 need generate corrected value r in each absolute position.But also having corrected value r is 0 situation.Like this, in Figure 11, concept nature illustrates the processing of the corrected value r in the whole zone that generates 1 circle, as the circular treatment of the branch among the step S211.In the case, each step of utilizing step S211 to carry out circular treatment represent to generate 1 in the position corrected value r and store the processing in the scrambler 100 into.But the action of the manufacturing installation 200 of the scrambler of this embodiment is not limited thereto, and at first generates corrected value r successively to whole zone, after the corrected value r that generates whole zone, can also store whole corrected value r into scrambler 100.In the case, after the circular treatment of step S211, treatment step S209.
Promptly; Below specify the generation of the corrected value r corresponding etc. with 11 right absolute position; But with this corrected value r store opportunity or the method for scrambler 100 into and the relativeness handled with the generation of other right corrected value r in timing or the method example that is not defined in the action of following explanation especially, can consider various distortion.
Below, specify particularly to comprise minimum the last bit data of resolution to, generate corrected value r that proofreaies and correct bit data on this and the process of in scrambler 100, storing this corrected value r.
Shown in figure 11, treatment step S201 at first, in this step S201, the position data of manufacturing installation 200 obtains position data that portion 210 obtains scrambler 100 and obtains last bit data that portion 120 obtains and bit data down.Then, get into step S105 and subsequent step S107.
In step S105 and step S107; Identical with the processing in the action of scrambler 100 shown in Figure 3; The interval of manufacturing installation 200 confirms that portion 150 confirms the next interval of bit data down for last bit data, and the absolute position calculating part 160 of manufacturing installation 200 generates the absolute position according to determined the next interval and following bit data.The absolute position that after the processing of this step S105 and step S107, generates is can be through generating the highest absolute position of resolution to deriving of corrected value r.Therefore; For example; Handled the 1st position data d1 and the 2nd position data d2 to the time; The absolute position data of representing this absolute position becomes middle the absolute position data Dmid of absolute position in the middle of the expression, handled the 2nd position data d2 and the 3rd position data d3 to the time, represent that the absolute position data of this absolute position becomes the absolute position data Dabs that representes final absolute position.
But in the processing of the step S105 of this manufacturing installation 200 and step S107, the absolute position computation process inner with scrambler 100 is different, calculates the absolute position according to the position data of not carrying out the correction of correction portion 140.Here, on the meaning of the absolute position of proofreading and correct, the absolute position that will after the processing of this step S105 and step S107, be calculated by absolute position calculating part 160 is called proofreaies and correct preceding absolute position.Then, export the preceding absolute position of the correction that calculates to side-play amount determination part 230.
On the other hand, after the processing of these steps S105 and step S107, (also can be before these are handled or processing simultaneously.) treatment step S203.
In step S203, benchmark absolute position calculating part 220 is obtained the following bit data that in step S201, obtains, and does not comprise the real absolute position as benchmark of the contained side-play amount that has of bit data according to this next data computation.Benchmark absolute position calculating part 220 for example can be counted the next interval from the opportunity of regulation, calculates real absolute position according to the value of this counting and the interval interior position of the next data representation.Then, export the real absolute position that calculates to side-play amount determination part 230.After the processing of step S203, get into step S205.
In step S205, side-play amount determination part 230 comes Observed Drift amount Δ p according to preceding absolute position of correction that in step S107, calculates and the real absolute position that in step S203, calculates.That is the difference of the absolute position before, side-play amount determination part 230 is obtained real absolute position and proofreaied and correct is calculated offset p.Come conceptually to explain the processing of this step S205 with reference to Fig. 8.Absolute position Pabs among Fig. 8 proofreaies and correct the absolute position that calculate the back, but representes real absolute position here.On the other hand, the dotted line among Fig. 8 is the absolute position that comprises the error before the correction shown in Figure 6 in the explanation of above-mentioned scrambler 100, and also preceding absolute position is proofreaied and correct in expression here.Like this, real absolute position Pabs is equivalent to offset p with the difference of the preceding absolute position of correction that is shown in broken lines, and side-play amount determination part 230 is measured this offset p.In addition, in example shown in Figure 8, the absolute position is expressed as the position data in 0～15 these 16 stages.Therefore, the absolute position returned 0 above 15 o'clock.This situation also is same to offset p, and in example shown in Figure 8, offset p is expressed as 4 (get 0～15 value).Export this offset p that calculates to corrected value generation portion 240, get into step S207.
In step S207, corrected value generation portion 240 generates the corrected value r of this offset of recoverable p according to the offset p that in step S205, measures.In example shown in Figure 8, as stated, be determined as Δ p=+4.On the other hand, this offset p is the error at place, absolute position, representes so use with the resolution of following bit data equal extent.Therefore, corrected value generation portion 240 with this offset p divided by following bit data with respect to the multiplying power m of the resolution of last bit data (relative cut apart number) with upper interval, be transformed to resolution with last bit data equal extent.In example shown in Figure 8,, be calculated as Δ p '=4/4=1 so should go up the offset p ' of the resolution of bit data because multiplying power is 4.Then, corrected value generation portion 240 makes the sign-inverted of carrying out the offset p ' behind this resolution conversion and generated error r (r=-Δ p '=-Δ p/m).R exports recording portion 250 to this error, gets into step S209.
In step S209, the error r that recording portion 250 will generate in step S207 and the resolution absolute position lower than following bit data record the storage part 130 of scrambler 100 explicitly.For this reason, recording portion 250 also can obtain the resolution absolute position lower than following bit data from scrambler 100 inside, in addition, and also can be according to the generations such as last bit data that obtain from scrambler 100.In this embodiment, correction data and be associated with the absolute position of the resolution of last bit data equal extent.Therefore, when last bit data was the 1st position data d1 of expression absolute position, recording portion 250 recorded storage part 130 explicitly with the last bit data of corrected value r when generating this corrected value.On the other hand; In last bit data is under the situation of the 2nd position data d2 beyond the absolute position; Recording portion 250 obtains middle the absolute position data Dmid of expression and the absolute position of last bit data equal extent from scrambler 100, should the absolute position, centre and corrected value r record explicitly in the storage part 130.Then, get into step S211.
In step S211, as stated, confirm whether above-mentioned each step has been handled in the whole positions in 1 circle; Tenth skill under situation about having handled; On the other hand, do not having to get into step S213 under the situation about handling; After control part 260 makes motor M rotation ormal weight, the processing that repeating step S201 is later.
More than, the manufacturing installation 200 etc. of the scrambler 100 of one embodiment of the present invention has been described.According to such manufacturing installation 200, as stated, can easily make the scrambler 100 that stably to measure high-resolution absolute position.
More than, specified embodiment of the present invention with reference to accompanying drawing.But, obviously the invention is not restricted to the example of these embodiments.Those skilled in the art can expect in the technological thought scope that claim is put down in writing, carrying out various changes or correction.Therefore, these after changing or revised technology obviously also belong to technical scope of the present invention.
In addition, in this manual, the step of putting down in writing in the process flow diagram comprises the processing of carrying out along the order sequential ground of record, also comprises being that sequential ground does not carry out but side by side or the processing of carrying out respectively.In addition, even in sequential ground processed steps, obviously also can according to circumstances suitable change order.
Label declaration
The DV drive unit
The PG power generation arrangement
The M motor
SH1, SH2 turning axle
The CT control device
100 scramblers
110 dishes
120 position datas obtain portion
121 the 1st position datas obtain portion
122 the 2nd position datas obtain portion
123 the 3rd position datas obtain portion
130 storage parts
131 the 1st storage parts
132 the 2nd storage parts
140 correction portions
141 the 1st correction portions
142 the 2nd correction portions
150 interval definite portions
151 the 1st interval definite portions
152 the 2nd interval definite portions
160 absolute position calculating parts
161 the 1st absolute position calculating parts
162 the 2nd absolute position calculating parts
200 manufacturing installations
210 position datas obtain portion
220 benchmark absolute position calculating parts
230 side-play amount determination parts
240 corrected value generation portions
250 recording portion
260 control parts

Claims (9)

1. scrambler, it possesses:
Position data obtains portion; It obtains bit data and following bit data; The position of this upper data representation moving body in the movably upper interval of said moving body, this time bit data is to be illustrated in the position of the said moving body in the repeated the next interval in the said upper interval than the said upward high resolution of bit data;
Storage part; It carries out record explicitly with the said absolute position of bit data low resolution down of the corrected value and the ratio of said moving body; This corrected value is to generate in advance according to the side-play amount that on said, produce and measure in advance with respect to said bit data down in the bit data, can proofread and correct this side-play amount;
Correction portion, it absolute position of said said low resolution when going up bit data according to the said position data portion of obtaining, and obtains the corrected value that is associated with this absolute position from said storage part, proofreaies and correct the said bit data that goes up according to this corrected value; And
Interval confirm portion, said the descend bit data of its last bit data of being proofreaied and correct according to said correction portion when obtaining bit data on this confirmed to obtain the said the next interval of this time bit data for said upper interval.
2. scrambler according to claim 1, wherein,
This scrambler also possesses the absolute position calculating part; This absolute position calculating part confirms the determined the next interval of portion and obtains said following bit data when going up bit data according to said interval at least, calculate said moving body with the resolution of said bit data equal extent down under the absolute position.
3. scrambler according to claim 2, wherein,
The said position data portion of obtaining at the position data more than 3; This position data more than 3 is in different a plurality of intervals of cutting apart after number is cut apart the mobile range of said moving body; Cut apart the position that the number different resolution that resolution is high is more more at most represented said moving body with this
In said storage part to adjacent according to the height of resolution and be in said on 2 position datas a plurality of right of bit data and the relation of said time bit data, write down said corrected value respectively,
Said correction portion proofreaies and correct according to said corrected value respectively and the said suitable position data of bit data that goes up to said a plurality of right,
It is said a plurality of right that said interval confirms that portion is directed against, and the said time bit data of the last bit data of being proofreaied and correct according to said correction portion respectively when obtaining bit data this on confirmed to obtain the said the next interval of this time bit data for said upper interval,
Said absolute position calculating part confirms that according to said interval portion is directed against said a plurality of whole intervals and the highest position data of resolution to confirming respectively, calculate said moving body with the resolution of the highest position data equal extent of said resolution under the absolute position.
4. scrambler according to claim 3, wherein,
In said storage part to said a plurality of to bit data on separately, with said corrected value and with the absolute position of the resolution of this right last bit data equal extent record explicitly,
Said correction portion obtains the said corrected value of the last bit data of this centering of correction to said a plurality of to the absolute position with the resolution of the last bit data equal extent of this centering of basis respectively.
5. scrambler according to claim 4, wherein,
Said absolute position calculating part according to said interval confirm portion be directed against said 2 position datas centering at least 1 definite the next interval and confirmed that by said interval portion has confirmed the said the highest following bit data of position data intermediate-resolution to comprising in the next interval; The middle absolute position of the resolution of calculating and this time bit data equal extent
Said correction portion according to the absolute position of this upper data representation, obtains the said corrected value of proofreading and correct bit data on this under the situation as the said absolute position to the said moving body of upper data representation that comprises of calibration object,
Under situation as the absolute position of bit data on comprising not being represented said moving body of said calibration object; According to have with as said calibration object to the resolution of the last bit data equal extent that comprises and the middle absolute position of having calculated by said absolute position calculating part, obtain the said corrected value of correction bit data on this.
6. scrambler according to claim 1, wherein,
Repeat repeatedly in the mobile range of said moving body in said upper interval,
Be set to same value and record in the said storage part to the corrected value of the last bit data in the adjacent a plurality of said upper interval.
7. drive unit, it possesses:
Motor, it moves moving body in mobile range;
Position data obtains portion; It obtains bit data and following bit data; Position in the upper interval that the said moving body of this upper data representation comprises in mobile range, this time bit data is to represent said moving body position in the repeated the next interval in said upper interval than the said high resolution of bit data that goes up;
Storage part; It carries out record explicitly with the said absolute position of bit data low resolution down of the corrected value and the ratio of said moving body; This corrected value is to generate in advance according to the side-play amount that on said, produce and measure in advance with respect to said bit data down in the bit data, can proofread and correct this side-play amount;
Correction portion, it absolute position of said said low resolution when going up bit data according to the said position data portion of obtaining, and obtains the corrected value that is associated with this absolute position from said storage part, proofreaies and correct the said bit data that goes up according to this corrected value;
Interval confirm portion, said the descend bit data of its last bit data of being proofreaied and correct according to said correction portion when obtaining bit data on this confirmed to obtain the said the next interval of this time bit data for said upper interval;
The absolute position calculating part, it confirms the determined the next interval of portion and obtains said following bit data when going up bit data according to said interval at least, calculate said moving body with the resolution of said bit data equal extent down under the absolute position; And
Control device, it controls said motor according to the absolute position that said absolute position calculating part calculates.
8. absolute position computing method may further comprise the steps:
Position data obtains step; Obtain bit data and following bit data; The position of this upper data representation moving body in the movably upper interval of said moving body, this time bit data is to represent said moving body position in the repeated the next interval in said upper interval than the said high resolution of bit data that goes up;
Aligning step; According to obtain in said position data obtain in the step said on the said absolute position of bit data low resolution down of ratio during bit data; Obtain the corrected value that is associated with this absolute position from storage part; Proofread and correct the said bit data that goes up according to this corrected value, wherein, this storage part carries out record explicitly with the said absolute position of bit data low resolution down of the corrected value and the ratio of said moving body; This corrected value is to generate in advance according to the side-play amount that on said, produce and measure in advance with respect to said bit data down in the bit data, can proofread and correct this side-play amount; And
Interval confirm step,, confirmed to obtain the said the next interval of this time bit data for said upper interval according to the said bit data down of bit data in said aligning step, proofreading and correct when obtaining bit data on this.
9. scrambler manufacturing approach may further comprise the steps:
Position data obtains step; Obtain bit data and following bit data; The position of this upper data representation moving body in the movably upper interval of said moving body, this time bit data is to represent said moving body position in the repeated the next interval in said upper interval than the said high resolution of bit data that goes up;
Interval definite step obtains last bit data and the following bit data that portion obtains according to said position data, has confirmed to obtain the said the next interval of this time bit data for said upper interval;
The absolute position calculation procedure; At least according to confirming in the step determined the next interval in said interval and obtain the following bit data that obtains in the step in said position data, calculate said moving body with the resolution of said bit data equal extent down under the absolute position;
Benchmark absolute position calculation procedure is according to the real absolute value of obtaining the said moving body of obtaining in the step of the next data computation in said position data;
The side-play amount determination step; According to absolute position of in the calculation procedure of said absolute position, calculating and the real absolute position of in the calculation procedure of said benchmark absolute position, calculating, be determined at the said side-play amount that produces with respect to said bit data down in the bit data that goes up;
Corrected value generates step, generates the corrected value of this side-play amount of recoverable according to the side-play amount of in said side-play amount determination step, measuring; And
Recording step will generate the corrected value that generates in the step at said corrected value and record explicitly in the storage part in the scrambler with the said absolute position of bit data low resolution down of the ratio of said moving body.
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